UFactory xArm User Manual

214
● xArm-ROS-library: Users can view related documents at
https://github.com/xArm-Developer/xarm_ros
https://github.com/xArm-Developer/xarm_ros2
● If the problem remains unsolved after power on/off for multiple
times, please contact UFACTORY team for support.
Software Error Code
Error Handling
S0
Joint Communication Error
Please restart the xArm with the Emergency Stop Button on the Control
Box. If multiple reboots do not work, please contact technical support.
S10
Abnormal Current Detection
Please restart the xArm with the Emergency Stop Button on the xArm
Control Box.
S11
Joint Overcurrent
Please restart the xArm with the Emergency Stop Button on the xArm
Control Box.
S12
Joint Overspeed
Please restart the xArm with the Emergency Stop Button on the xArm
Control Box.
S14
Position Command Overlimit
Please restart the xArm with the Emergency Stop Button on the xArm
Control Box.
S15
Joints Overheat
If the robot arm is running for a long time, please stop running and
restart the xArm after it cools down.
S16
Encoder Initialization Error
Please ensure that no external force pushes the robot arm to move when
it's powered on. Please restart the xArm with the Emergency Stop Button
on the Control Box.

UFactory xArm Specifications

General

Payload	5 kg
Repeatability	±0.1 mm
Programming Language	Python, C++, ROS
Communication Interface	Ethernet
Operating Temperature	0°C to 45°C